A reduced-order cascade model of COBRA's tumbling motion matches a 150-element Simscape simulation in heading angle, velocity, and trajectory for a single posted impulse input.
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Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control
A reduced-order cascade model of COBRA's tumbling motion matches a 150-element Simscape simulation in heading angle, velocity, and trajectory for a single posted impulse input.